二维外力扰动下四足机器人稳定性分析与仿真  

Dynamic stability analysis and compensation of quadruped robot under two-dimensional external force disturbance

作　　者：辛建树 赵慧[1,2] 黄檀 袁立鹏 XIN Jianshu;ZHAO Hui;HUANG Tan;YUAN Lipeng(School of Mechanical Automation,Wuhan University of Science and Technology,Wuhan 430081,Hubei,China;Institute of Robotics and Intelligent Systems,Wuhan University of Science and Technology,Wuhan 430081,Hubei,China;Nanjing Circle Collar Digital Technology Co.,LTD,Nanjing 211500,Jiangsu,China;School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150001,Heilongjiang,China)

机构地区：[1]武汉科技大学机械自动化学院,湖北省武汉市430081 [2]武汉科技大学机器人与智能系统研究院,湖北省武汉市430081 [3]南京缘领数字科技有限公司,江苏省南京市211500 [4]哈尔滨工业大学机电工程学院,黑龙江省哈尔滨市150001

出　　处：《农业装备与车辆工程》2023年第12期23-27,共5页Agricultural Equipment & Vehicle Engineering

基　　金：江苏省自然科学基金项目“仿生血管流道电液生物腿足系统研究”(BK20211028)。

摘　　要：为了提高四足机器人受到强侧向冲击时的动态稳定性,提出了一种应急步态切换策略和姿态调节补偿策略以抵抗冲击。以trot步态行走为基础,机体的姿态角为监测指标,当受到较大冲击后机器人将由trot步态切换到应急步态;由冲击力引起的各个方向的速度、加速度进行相应方向的跨步步长计算,同时建立姿态控制模型;通过IMU获得实时姿态角,以姿态调节计算足端补偿量,综合得到下一时刻的足端坐标。最终摆动腿迈步到达期望足端位置以抵消侧向冲击速度。用上述控制策略实现四足机器人受侧向冲击的的稳定性控制,经过MATLAB和ADAMS联合仿真验证了该控制策略的可行性和有效性,四足机器人抗外干扰的能力有明显提高。In order to improve the dynamic stability of quadruped robot under strong lateral impact,an emergency gait switching strategy and an attitude adjustment compensation strategy were proposed to resist the impact.Trot gait was taken as the basis and posture angle of the body as the monitoring index.When the robot was subjected to a large impact,the trot gait would be changed to the emergency gait.Step length in the corresponding direction would be calculated based on the velocity acceleration in all directions caused by the impact force.The foot compensation was calculated by attitude adjustment and the next foot coordinates were obtained comprehensively.Finally the leg was swung to the desired foot position to offset the lateral impact velocity.The above control strategy was used to realize the stability control of the quadruped robot under lateral impact.The feasibility and effectiveness of the control strategy were verified by MATLAB and ADAMS co-simulation,and the ability of the quadruped robot to resist external interference was significantly improved.

关 键 词：四足机器人 侧向冲击 应急步态 姿态控制 稳定性 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]